U.S. patent application number 13/131089 was filed with the patent office on 2011-09-29 for robotic catheter system input device.
Invention is credited to John A. Hauck, Mark B. Kirschenman, Jane J. Song.
Application Number | 20110238010 13/131089 |
Document ID | / |
Family ID | 42310194 |
Filed Date | 2011-09-29 |
United States Patent
Application |
20110238010 |
Kind Code |
A1 |
Kirschenman; Mark B. ; et
al. |
September 29, 2011 |
Robotic catheter system input device
Abstract
An input device (101) for a robotic medical system (10) includes
a handle (102) configured to be rotatable about a center axis, and
to be longitudinally displaceable along the center axis. The input
device (101) also includes a deflection control element disposed on
the handle (102), and configured to selectively control deflection
of the distal end of a flexible medical instrument electrically
coupled to the input device. Longitudinal displacement of the
handle (102) may cause or result in a corresponding longitudinal
motion of the flexible medical instrument. Rotation of the handle
(102) may cause or result in a corresponding rotation of the
deflection plane. Longitudinal displacement and rotation of the
handle (102) may be detected or sensed electronically. The handle
(102) can be easily replaced with a device that mimicks the
performance of one or more novel, known or traditional handles.
Inventors: |
Kirschenman; Mark B.;
(Waverly, MN) ; Hauck; John A.; (Shoreview,
MN) ; Song; Jane J.; (Minneapolis, MN) |
Family ID: |
42310194 |
Appl. No.: |
13/131089 |
Filed: |
December 29, 2009 |
PCT Filed: |
December 29, 2009 |
PCT NO: |
PCT/US09/69712 |
371 Date: |
May 25, 2011 |
Current U.S.
Class: |
604/95.04 |
Current CPC
Class: |
A61M 25/0105 20130101;
A61B 2034/301 20160201; A61B 34/30 20160201; A61B 2090/061
20160201 |
Class at
Publication: |
604/95.04 |
International
Class: |
A61M 25/092 20060101
A61M025/092 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 31, 2008 |
US |
61141971 |
Claims
1. An input device for a robotic medical system including a medical
instrument, the input device comprising: a handle configured to be
rotatable about a center axis and to be longitudinally displaceable
along the center axis; and a deflection control element disposed on
or about the handle and configured to selectively control
deflection of a distal end of said medical instrument within a
deflection plane; wherein longitudinal displacement of the handle
causes or results in a corresponding longitudinal motion of the
medical instrument; rotation of the handle causes or results in a
corresponding rotation of the deflection plane; and the
longitudinal displacement and rotation of the handle are detected
or sensed electronically.
2. The input device of claim 1, wherein the medical instrument
comprises a catheter, a sheath, or both a catheter and sheath; and
the input device includes a selection switch configured to permit
selective control of the catheter, sheath, or catheter and
sheath.
3. The input device of claim 1, further comprising one or more
indicators for indicating whether the handle is configured to
control a catheter, a sheath, or both a catheter and sheath.
4. The input device of claim 1, wherein the input device is
configured to return to an initial or centered position after
displacement.
5. The input device of claim 1, further comprising at least one
sensor operatively connected or coupled to the handle, and
configured to measure displacement of the handle.
6. The input device of claim 5, comprising a first sensor
responsive to rotation of the handle, a second sensor responsive to
longitudinal displacement of the handle, and a third sensor
responsive to displacement of a switch.
7. The input device of claim 5, wherein the at least one sensor is
configured to provide a signal to a control system when the sensor
is activated or displaced.
8. The input device of claim 7, wherein the control system is
configured to cause or result in a corresponding displacement of a
medical instrument
9. The input device of claim 8, wherein the velocity of the
displacement of the medical instrument is proportional to the
magnitude of the displacement of the at least one sensor.
10. The input device of claim 5, wherein the at least one sensor is
a potentiometer or an encoder.
11. The input device of claim 5, wherein the at least one sensor is
a motor and encoder.
12. The input device of claim 5, further comprising at least one
servo motor configured to return the handle to an initial or
centered position after displacement.
13. The input device of claim 12, wherein the at least one servo
motor is coupled to the handle in a direct-drive configuration.
14. The input device of claim 1, further comprising a dead man
switch that is configured to prevent unintentional control of a
medical instrument.
15. The input device of claim 14, wherein the dead man switch is an
optical switch or a capacitive switch configured to detect the
presence or absence of a portion of a hand in contact with at least
a portion of the handle.
16. The input device of claim 1, wherein the handle may be
selectively removable.
17. The input device of claim 16, wherein a first handle having a
deflection control element of a first type may be selectively
removed and replaced with a second handle having a deflection
control element of a second type.
18. The input device of claim 1, further configured to provide
haptic feedback to a user.
19. The input device of claim 18, wherein the input device is
configured to provide at least one of heat, cold, a vibration or a
force to a user through the handle.
20. The input device of claim 18, wherein haptic feedback is
indicative of contact of the distal of a catheter or sheath with
tissue within a treatment area.
21. The input device of claim 18, wherein haptic feedback is
indicative of a physical property of the input device or an
associated catheter or sheath.
22. A catheter input device, comprising: a joystick input device;
and a control system, the control system configured to receive a
control signal in response to movement of the joystick input device
and to transmit a corresponding motion-related command to a
catheter; wherein the joystick input device is configured such that
displacement of the joystick input device along a first axis
results in a corresponding advancement or retraction of at least
one of a catheter and a sheath, and displacement of the joystick
input device along a second axis results in a corresponding
deflection of the distal end of at least one of a catheter and a
sheath along a deflection plane.
23. The input device of claim 22, further comprising at least one
rotational input device, wherein activation of the rotational input
device results in a corresponding rotation of the deflection
plane.
24. The input device of claim 23, wherein rotation of the
deflection plane results in a corresponding rotation of a distal
end of at least one of a catheter and a sheath.
25. The input device of claim 22, wherein the rotational input
device is at least one of a potentiometer, a motor, and an
encoder.
26. The input device of claim 22, further comprising a plurality of
precision sensors configured to be displaced upon movement of the
joystick input device, and to provide control signals to the
control system indicative of the joystick input device
movement.
27. The input device of claim 26, wherein the plurality of
precision sensors includes at least one potentiometer.
28. The input device of claim 26, wherein the plurality of
precision sensors includes at least one motor and encoder.
29. The input device of claim 22, further comprising at least one
centering mechanism configured to return the joystick input device
to an initial or neutral position after displacement.
30. The input device of claim 29, wherein the centering mechanism
includes at least one precision motor configured to return the
joystick input device to an initial or neutral position after
displacement.
31. The input device of claim 17, wherein the first handle having a
deflection control element of a first type comprises a
manually-rotatable features and the second handle having a
deflection control element of a second type comprises a pivotable
member.
32. The input device of claim 31, further comprising a
manually-activated release mechanism coupled to one of the first
handle and the second handle.
33. The input device of claim 17, further comprising a memory
structure coupled to one of said first handle and said second
handle and wherein the memory structure includes stored information
relating to the operation of the handle.
34. The input device of claim 33, wherein the stored information is
selectively modifiable with at least one of a preset operator's
preferential setting and a training-mode setting.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of and priority to
provisional U.S. patent application No. 61/141,971 filed 31 Dec.
2008. This application claims the benefit of and priority to
nonprovisional U.S. patent application Nos. 12/347,442; 12/347,811;
12/347,826; 12/347,835; and 12/347,842 each of which were filed 31
Dec. 2008 and each of which claims priority to provisional U.S.
patent application No. 61/040,143 filed 27 Mar. 2008 and
nonprovisional U.S. patent application Nos. 12/347,826 filed on 31
Dec. 2008 and 12/507,175 filed on 22 Jul. 2009 both of which in
turn claim priority to 61/099,904, filed Sep. 24, 2008. The entire
disclosures of each of the above-mentioned provisional and
nonprovisional applications are hereby incorporated by reference as
if fully set forth herein in their respective entireties.
BACKGROUND
[0002] a. Field
[0003] The present disclosure relates to robotic catheter systems,
and more particularly, to improved input devices for controlling
movement of catheters and sheaths within a treatment area, such as
a cardiac chamber. Input devices according to the present
disclosure can be used with other manual, computer-based medical
systems, and hybrid manual and computer-based systems, such as
simulation systems for training.
[0004] b. Background
[0005] Electrophysiology catheters are used for an ever-increasing
number of procedures. For example, catheters have been used for
diagnostic, therapeutic, mapping and ablative procedures, to name
just a few examples. Typically, a catheter is manipulated through
the patient's vasculature to an intended site, for example, a site
within the patient's heart, and carries one or more electrodes,
which may be used for mapping, ablation, diagnosis, or other
treatments.
[0006] Traditional techniques of manipulating catheters to, and
within, a treatment area typically include a physician manipulating
a handle connected to a catheter. The handle generally includes a
mechanism directly connected to guide wires for controlling the
deflection of a catheter. A second handle is generally provided for
controlling deflection of a sheath. Rotating and advancing a
catheter or sheath generally requires a physician such as an
electrophysiologist (EP) to physically rotate and advance the
associated handle.
[0007] Recently, catheter systems have been developed that work in
concert with visualization/mapping systems, such as the EnSite
NavX.TM. system commercialized by St. Jude Medical, Inc. (SJM) of
Little Canada, Minn. and the pre-commercial magnetic-based
Mediguide system by SJM or the Carto system commercialized by
Biosense Webster, a subsidiary of Johnson and Johnson. However,
conventional systems still generally involve an EP manually
controlling a catheter and sheath system, and associated
visualization systems typically reactively monitor catheter
movement.
BRIEF SUMMARY OF THE INVENTION
[0008] Systems are provided for receiving user inputs and providing
signals representative of the user inputs to a catheter system,
which may be a robotic catheter system. An embodiment of a robotic
catheter system (also referred to as "the system") may be used, for
example, to manipulate the location and orientation of sheaths and
catheters in a heart chamber or in another body portion. The system
may incorporate a human input device, e.g., a joystick, configured
for interaction with a user; an electronic control system that
translates motion of the user at the input device into a resulting
movement of a catheter tip; and a visualization device that
provides a user with real-time or near-real-time positioning
information concerning the catheter tip. The system may provide the
user with a similar type of control provided by a conventional
manual system, and allow for repeatable, precise, and dynamic
movements. The input system may thus provide a user, such as an
electrophysiologist, with an input device that mimics one or more
devices that the user already understands and is familiar with.
This includes for example the form, fit and function of the
mimicked device(s) or altered or customized forms of one or all of
form, fit and function. In addition, such devices can be physically
scaled up or down and the function can be adapted to operate with a
varying degree of similarity to the mimicked device(s). For
example, a slew rate or a motion damping function for achieving a
distal tip sweeping motion or a curl configuration can be modified
for a given EP preference and/or a given procedure. In a training
scenario an EP-teacher can allow a student to use a device having
emulated preferred performance characteristics of the EP-teacher.
This disclosure describes, depicts, and claims use of diverse
handle components from diverse medical device companies with a plug
and play functionality. That is, via mechanically cooperating
structures such as a socket coupled to the system and a plug
coupled to a handle, different manual inputs and responses of the
handle can be translated to robotically drive a shaft or catheter
as if the handle were directly mechanically coupled to the shaft or
catheter. The translation could be a direct translation or a
modified translation incorporating EP preferences (e.g., a
mechanical drive ratio or an imparted force can be modified or
electronic thresholds set that would not allow physical tolerances
of a catheter or shaft to be exceeded). The translation can be
performed by known control schemes (e.g., PID controller(s), neural
network(s), programmable logic circuits) and the identity of the
original, now mimicked, handle can be manually or electronically
provided to the system. In one form the identity can be provided
wirelessly with short-range telemetry or via a chip such as an
EEPROM disposed on the handle that is read by the system. The
identity can also be manually confirmed with a switch, toggle, or
GUI-driven menu. In an embodiment the performance of the device can
be dynamically modified by a user, especially in a training
environment so that a range of performance or response can be
experienced. Insertion and removal of a first handle can be
accomplished with a spring-biased member such as a push button or
the like. A transition component that is a combination of a known
device and a plug portion couples to the socket via fused pull
wires for deflection and elongate electrical conductors for
activating or ceasing energy delivery to an ablation electrode,
switching to or between EGM vectors, fluid delivery (e.g.,
irrigation fluid or other substance delivery), and the like.
[0009] In an embodiment, the input device includes a first handle
and a second handle. The first handle and the second handle may be
aligned coaxially along a shaft. The handles may include manual
actuators selector switches, dials or buttons such as, for example,
slider switches or thumb wheels, which may be configured to control
movement of the catheter and the sheath. Handles may be
longitudinally displaceable along a shaft, and may be configured
such that longitudinal displacement of a shaft results in a
longitudinal displacement of the associated catheter/sheath.
[0010] In an embodiment, the input device may include a single
handle configured to control the sheath and catheter, either
together or independently. In embodiments, the input device may
include a selector mechanism, such as a three position switch,
through which a user may selectively control the catheter, the
sheath, or both the catheter and sheath.
[0011] In an embodiment, an input device may include one or more
indicators configured to provide an indication to a user concerning
whether a catheter, a sheath, or both a catheter and a sheath, are
selected for control. For example, input devices may include an LED
indicator (e.g., a white LED) to indicate a catheter is selected
for control, and another LED (e.g., a blue LED) to indicate a
sheath is selected for control.
[0012] In an embodiment, an input device may include a device
control switch that must be activated before the user input will
transmit signals indicative of user inputs. For example, a system
in communication with an input device may be configured to accept
inputs from user input device only when a device control switch is
activated.
[0013] A system according to the present disclosure can be
configured to receive the inputs from the user input control, and
to transmit the user inputs to a robotic catheter system configured
to cause corresponding motion of a catheter system.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIG. 1 is an isometric representation of a robotic catheter
system according to an embodiment.
[0015] FIG. 2 is an isometric view of an input device according to
an embodiment.
[0016] FIGS. 3A-3D are several views of a handle for an input
device according to an embodiment.
[0017] FIGS. 4A-4F are several views of a controller with an input
device according to an embodiment.
[0018] FIG. 5 generally illustrates an input system according to an
embodiment.
[0019] FIG. 6A is an isometric view of an input device according to
a further embodiment.
[0020] FIG. 6B is an isometric view of a controller with an input
device according to a further embodiment.
[0021] FIGS. 7A-7B are side and isometric views of a handle for an
input device according to an embodiment.
[0022] FIGS. 7C-7D are side and isometric views of a handle for an
input device according to an embodiment.
[0023] FIGS. 7E-7F are side and isometric views of a handle for an
input device according to an embodiment.
[0024] FIGS. 7G-7I are side and isometric views of a handle for an
input device according to an embodiment.
[0025] FIGS. 8A-8B are isometric views of an input device according
to an embodiment.
[0026] FIG. 8C is an isometric view of a handle of input device of
FIGS. 8A-8B.
[0027] FIGS. 9A-9B are isometric and side views of an input device
according to an embodiment.
[0028] FIG. 10A-10C are isometric views of an input device,
according to an embodiment.
[0029] FIG. 11A is an isometric view of an input device according
to an embodiment.
[0030] FIG. 11B is an isometric view of a handle of input device of
FIG. 11A.
DETAILED DESCRIPTION OF THE INVENTION
[0031] Referring now to the drawings wherein like reference
numerals are used to identify like components in the various views,
an embodiment of a robotic catheter system 10 (described in detail
in co-pending applications titled "Robotic Catheter System," hereby
incorporated herein by reference in its entirety), also referred to
as "the system," is illustrated. The system 10 may be used, for
example, to manipulate the location and orientation of catheters
and sheaths in a treatment area, such as within a heart chamber or
another body cavity. As generally illustrated in FIG. 1, system 10
may include an input control system 100. Input control system 100
may include an input device, such as a joystick, and related
controls (further described below), that a user such as an
electrophysiologist (EP) may interact with. Input control system
100 may be coupled to an electronic control system 200 that
translates motions of the user at the input device into a resulting
movement of a catheter tip. A visualization system 12 may provide a
user with real-time or near-real-time positioning information
concerning the catheter tip. The system 10 may further include a
closed-loop feedback system 14, for example, an SJM EnSite NavX.TM.
impedance-based system or the MediGuide system (or the Biosense
Webster Carto system) the latter two of which are magnetic
positioning systems, and/or optical force transducers of an
equivalent of any of the foregoing. The system 10 may additionally
include a robotic catheter manipulator assembly 300 for operating a
robotic catheter device cartridge 400, and manipulator support
structure 1100. The system 10 provides the user with a similar type
of control provided by a conventional manual system, but allows for
repeatable, precise, and dynamic movements. In an embodiment,
certain elements described above with respect to system 10 may be
omitted, or may be combined. For example, while electronic control
system 200 is illustrated as a stand-alone unit, it is understood
that it may be incorporated into another device, such as
manipulator support structure 1100.
[0032] Input control system 100 may permit a user to control the
movement and advancement of both a catheter and sheath. Generally,
several types of input devices may be employed. The subject input
devices of this teaching include instrumented catheter handle
controls which may comprise one or more joysticks generally
resembling traditional catheter controls. In addition or in lieu of
one of more joysticks a combination of joystick(s) and a
traditional catheter controls such a multifunctional handle can be
used alone or in combination during a procedure or a training
session. In embodiments, for example and without limitation, the
input device may be self-centering, so that any movement from the
center position causes an incremental movement of the actual
catheter tip. Alternatively, the input device may work in absolute
terms. Haptic feedback may also be employed in connection with the
input device or input control system 100 to provide a user with a
physical indication associated with contact (e.g., an indication
when contact has been made). By way of example, and without
limitation, haptic feedback may include heating or cooling a handle
of the input device to provide a user with an indication as to
electrode temperature, vibrating a handle to indicate, e.g.,
contact with tissue, and providing resistance to movement of the
input device. In addition to being indicative of contact, haptic
feedback may also be employed to represent physical limitations of
a device. For example, haptic feedback may be provided to indicate
that a catheter or sheath has reached the end of available
translation, achieved a maximum deflection, or to indicate another
physical property of an associated medical device. In an
embodiment, vibrating a handle, or providing resistance to
movement, may be implemented using one or more motors coupled with
a handle.
[0033] Many additional features may be included with the system 10
to, for example, improve the accuracy and/or effectiveness of the
system. Such features may include providing feedback using a
visualization system 12, or employing a corresponding magnetic
positioning system, (e.g., for creating cardiac chamber geometries
or models), displaying activation timing and voltage data to
identify arrhythmias, and guiding precise catheter movement, and/or
optical force transducers. Additional features may include active
tensioning of "passive" steering wires to reduce the system
response time; cumulative ablation while an electrode tip is
following a front-to-back ironing motion; and/or reactive/resistive
impedance monitoring.
[0034] System 10 may include visualization system 12 which may
provide a user with real-time or near-real-time positioning
information concerning the catheter tip. In an exemplary
embodiment, system 12 may include a monitor 16 for displaying
cardiac chamber geometries or models, displaying activation timing
and voltage data to identify arrhythmias, and for facilitating
guidance of catheter movement as well as modifying display of same
and of the operational characteristics of a control instrument for
a catheter or shaft (e.g., a relatively conventional or known
handle form, fit and function or modified functions of same). A
fluoroscopy monitor 18 may be provided for displaying a real-time
x-ray image for assisting a physician with catheter movement.
Additional exemplary displays may include an Intracardiac Echo
("ICE") and EP Pruka displays, 20, 22, respectively.
[0035] Referring to FIG. 1, system 14 will be described
briefly.
[0036] System 14 (described in detail in U.S. Pat. No. 7,263,397,
titled "Method and Apparatus for Catheter Navigation and Location
and Mapping in the Heart,") may be provided for creating realistic
cardiac chamber geometries or models, displaying activation timing
and voltage data to identify arrhythmias, and guiding precise
catheter movement. System 14 may collect electrical data from
catheters, may use this information to track or navigate catheter
movement, and to construct three-dimensional (3-D) models of the
chamber.
[0037] As generally shown in FIG. 1, robotic catheter system 10 may
include one or more robotic catheter manipulator assemblies 300,
for manipulating, for example, catheter and sheath cartridges.
Manipulator assembly 300 may include interconnected/interlocking
manipulation bases for catheter and sheath cartridges. Each
interlocking base may be capable of travel in the longitudinal
direction of the catheter/sheath (D.sub.1, D.sub.2 respectively).
In an embodiment, D.sub.1 and D.sub.2 may each represent a
translation of up to 8 linear inches or more. Each interlocking
base may be translated by a high precision drive mechanisms. Such
drive mechanism may include, for example and without limitation, a
motor driven lead screw or ball screw.
[0038] Robotic catheter manipulator assembly 300 may be usable with
a robotic catheter rotatable device cartridge. Manipulator base may
be replaced with a robotic catheter rotatable drive head and a
robotic catheter rotatable drive mechanism.
[0039] As briefly discussed above, robotic catheter system 10 may
include one or more cartridges 400, with manipulator 300 including
at least two cartridges, each of which may be configured to control
the distal movement of either the catheter or the sheath. With
respect to a catheter cartridge, catheter may be substantially
connected or affixed to the cartridge, so that advancement of the
cartridge correspondingly advances the catheter, and retraction of
the cartridge retracts the catheter. Each cartridge may, for
example, include slider blocks rigidly and independently coupled to
one of a plurality of catheter steering wires in a manner to permit
independent tensioning of each steering wire. The cartridge may be
provided as a disposable item that is capable of being easily
positioned (e.g., snapped) into place in an overall assembly. In an
embodiment, the cartridge may include an electrical "handshake"
device or component to allow the system 10 to properly identify the
cartridge (e.g., by type and/or proper placement/positioning). A
sheath cartridge may be designed in a similar manner as the
catheter cartridge, but may be configured to provide for the
passage of catheter. The assembly may include a plurality (e.g., as
many as ten or more) of independent driving mechanisms (e.g. motor
driven ball screws).
[0040] Robotic catheter system 10 may be useful for a variety of
procedures and in connection with a variety of tools and/or
catheters. Such tools and/or catheters may include, without
limitation, spiral catheters, ablation catheters, mapping
catheters, balloon catheters, transseptal catheters, needle/dilator
tools, cutting tools, cauterizing tools, and/or gripping tools. The
system 10 may additionally include a means of identifying the
nature and/or type of catheter/tool cartridge that is installed for
use, and/or position or connection related information. It may also
be desirable for the system 10 to automatically access/obtain
additional information about the cartridge, such as, without
limitation, its creation date, serial number, sterilization date,
prior uses, etc.
[0041] FIG. 2 illustrates an embodiment of an input device 101.
Input device 101 may be configured to allow a user to selectively
control a catheter, a sheath, or both a catheter and a sheath.
Input device 101 may include at least one handle 102 [add numeral
102 to FIG. 2] connected to a control box 104 via a spline 106. As
described in further detail below, control box 104 may be
configured to receive inputs from a handle 102, such as user inputs
from a user manipulating handle 102. Control box 104 may translate
the user inputs into outputs, such as electrical signals, which may
be used by a robotic catheter system 10 to control, e.g., a sheath
and/or a catheter. Control box 104 may include one or more switches
108. Switches 108 may be configured to permit selection of one or
more operating parameters, preset functions, or other functions
such as: returning to a preset location, such as a home, or
centered position; detensioning a catheter or sheath; reversing
most recent movement, activating/deactivation ablation energy, etc.
Handle 102 may be configured for motion relative to control box
104. In an embodiment, the motion of handle 102 relative to control
box 104 may be similar to the motion of a traditional catheter
handle. For instance, handle 102 may be configured to rotate in the
direction R, and to be laterally displaceable, or translatable, in
the direction of arrow D. In this regard, as mentioned in the above
Summary section the handle 102 can include a socket (not shown)
internal to the control box 104 and a transition component coupled
intermediate the spline (or socket) 106 and the socket of the
handle 102. Alternatively the transition component can be disposed
intermediate the handle 102 and the spline (or socket) 106. Handle
102 may include one or more switches, such as switches 110, 112, as
will be described further below with reference to FIG. 3. Control
box 104 may be configured to detect motion of handle 102, and to
generate the one or more electrical or control signals in response
thereto. The one or more control signals can be transmitted to
robotic catheter system 10, such that manipulation of the handle
102 results in movement of a catheter and/or sheath in a manner
similar to traditional catheter systems. The foregoing provides a
degree of modularity to the combination of a handle 102 and the
control box 104 (and overall to the system 10) in that diverse new
or traditional handle configurations can be easily removed and
replaced given the preferences of a particular EP. In a true
"fly-by-wire" embodiment according to this disclosure rotation of
the handle 102 can be detected electronically and relayed to the
control box 104 (e.g., using known components such a rotational
potentiometer, a radial optical encoder or Hall effect sensors
coupled to or disposed between rotating portions of the handle and
an adjacent static structure). As also noted above the handle can
include one or more electronic chips or characteristic electrical
tabs or traces that engage the control system 104 and thus identify
the handle for emulation by the system. As further noted, the
characteristics of a given handle can be modified for a particular
EP's preferences, a training session, or to alter a previously
identically calibrated handle. Such modification can result from an
input received automatically or manually (e.g., from a chip or via
a GUI input including one-time and dynamic modification(s), a
keyboard, a mouse or a switch).
[0042] FIG. 3A is an isometric view of a handle 102 according to an
embodiment. Handle 102 includes a housing 118 comprising an upper
portion 118a and a lower portion 118b. Handle 102 also includes a
slider switch 110. Slider switch 110 may be configured to be
selectively displaceable from a center position, generally in the
direction of arrow D. In another embodiment, (not shown) slider
switch 110 may be replaced with another switch, such as a
deflection dial rotatable with respect to the handle, a thumb
wheel, a toggle switch, or any other appropriate switch. In an
embodiment, slider switch 110 may be configured to provide input
representative of a desired deflection of the tip of a catheter
and/or a sheath.
[0043] Handle 102 may also include a switch 112, which may be a
three-position switch. Switch 112 may be configured to provide an
input representative of a desired control scheme. For example,
switch 112 may have a first position wherein manipulation of handle
102 results in corresponding manipulation of a catheter. Switch 112
may have a second position wherein manipulation of handle 102
results in a corresponding manipulation of a sheath. Switch 112 may
also have a third position wherein manipulation of handle 102
results in a corresponding manipulation of both a catheter and a
sheath. Selective control, or individual control, of each of a
catheter and a sheath is beneficial in that it may allow for
compound movement and bending of the distal tip of the catheter and
sheath. Combined control may be beneficial when it is desired that
the catheter and the sheath move, for example, in a common
direction, or along a common plane.
[0044] In the illustrated embodiment, upper portion 118a defines a
pair of apertures through which lights 116 are visible. Lights 116
may be, for example, light emitting diodes (LEDs). A first light
116a may be configured to illuminate when switch 112 is positioned
such that handle 102 controls a sheath. A second light 116b may be
configured to illuminate when switch 112 is positioned such that
handle 102 controls a catheter. Both lights 116a, 116b may be
configured to illuminate when switch 112 is positioned such that
handle 102 controls both a sheath and a catheter. Lights 116a, 116b
may be the same color, or may be different colors. Different color
lights may be useful in providing a user with contrasting
indications of devices selected for control.
[0045] Handle 102 may include another switch, such as button 114,
which may be embedded in slider switch 110. Button 114 may be
configured to provide one or more inputs to control box 104 during
operation. In an embodiment, button 114 may be configured to act as
a device control switch, such as a dead-man switch. For example, in
such an embodiment, if button 114 is not depressed, manipulation of
handle 102 will not result in manipulation of an associated
catheter or sheath. In another embodiment, button 114 may be
configured to perform another function, such as providing an "on"
signal for an associated ablation electrode. It is understood that
handle 102 may also include one or more other switches (not
pictured). A device control switch, or dead man switch, may also be
implemented in another manner, such as by an optical relay or a
capacitive switch which, when covered, indicates a user intends to
manipulate an associated catheter or sheath.
[0046] FIG. 3B is a partial exploded view of an embodiment of
handle 102. FIG. 3B illustrates switches 110, 112, as well as
lights 116a and 116b, mounted to lower portion 118b. Also
illustrated is a bearing housing 120 which may be configured to
assist in displacement of control rod 130 (as described in further
detail with respect to FIG. 4C).
[0047] FIG. 3C is a top view of an embodiment of handle 102
illustrating switches 110, 112, as well as lights 116a and 116b.
FIG. 3D is a sectional view along line 3D-3D of FIG. 3C, further
illustrating switch 110, as well as bearing housing 120. Bearing
housing 120 may define an aperture through which a control rod may
traverse (as described in further detail with respect to FIG.
4C).
[0048] FIG. 4A is an isometric view of input device 101 of FIG. 2
wherein the cover of control box 104 has been removed. FIG. 4A
generally illustrates handle 102 coupled with control box 104 by
spline 106. Other elements illustrated in FIG. 4A will be described
in further detail below, with respect to FIGS. 4B and 4C.
[0049] FIG. 4B illustrates a top view of input device 101 of FIG.
4A, wherein switches 108 have been removed. In the illustrated
embodiment, input device 101 includes a handle, such as handle 102
illustrated in FIGS. 3A-3D, including switches 110, 112, and lights
116a, 116b coupled to housing 118. Handle 102 is coupled to housing
104 through spline 106. In an embodiment, spline 106 may be
securely coupled to handle 102, such that manipulation of handle
102 induces a similar manipulation of spline 106. For example, when
handle 102 is rotated relative to control box 104, spline 106 may
rotate, transmitting the rotation to control box 104. Similarly,
when handle 102 is translated with respect to control box 104
(i.e., laterally advanced or retracted, in the direction of arrow
D), spline 106 may be similarly translated, thereby transmitting
the translation to control box 104. In another embodiment (not
illustrated), spline 106 could be rigid, and handle 102 could be
configured to rotate and translate with respect to spline 106. In
such an embodiment, handle 102 may include a rotary sensor and a
translation sensor, wherein the rotary sensor could be configured
to measure rotation of handle 102 with respect to spline 106, and
the translation sensor could be configured to measure translation
of the handle with respect to spline 106.
[0050] Control box 104 generally includes a number of mechanisms
configured to receive inputs from handle 102 and to output those
inputs as electrical signals, or outputs. Accordingly, control box
104 generally includes a rotation mechanism 122, a deflection
mechanism 124, and a translation mechanism 126. Rotation mechanism
122 is configured to detect and/or measure rotational movement of
handle 102. Deflection mechanism 124 is configured to detect and/or
measure movement of slider switch 110. Translation mechanism 126 is
configured to detect and/or measure translational movement of the
handle 102. Control box 104 may also include an interface mechanism
128, which may be configured to transmit and/or receive one or more
electrical signals, and/or to provide power to one or more of
rotation mechanism 122, deflection mechanism 124, and translation
mechanism 126. In another embodiment (not illustrated), slider
switch 110 could be replaced with a deflection dial configured to
rotate with respect to handle 102. A rotary potentiometer, or other
rotary sensor, could detect rotation of the dial and transmit a
signal representative of the rotation.
[0051] Referring now to FIGS. 4A-4F, input device 101 will be
described in further detail. As illustrated in FIG. 4C, spline 106
may be hollow, defining an aperture therein. A switch control rod
(or simply "control rod") 130 may be coupled to slider switch 110
to translate motion of slider switch 110 into control box 104.
Control rod 130, which may be a hollow or a solid rod, may be
configured to closely conform to an inner diameter of spline 106,
and bearing housing 120, to allow control rod 130 to move within
spline 106. Bearing housing 120 may include one or more linear
bearings disposed therein to facilitate displacement of the control
rod 130 within bearing housing 120.
[0052] Rotational mechanism 122, as shown in FIG. 4D, may be
configured to detect and/or measure rotational movement of handle
102, for example, in the direction denoted by arrow R. Rotational
mechanism 122 generally includes a motor 132 and a rotational
potentiometer 136 coupled to spline 106. Motor 132 may be coupled
to rotational potentiometer 136. Rotational potentiometer 136 may
be connected to a hub 137, which is connected to the spline 106,
using a belt 134. Spline 106 may be configured such that rotation
of spline 106 causes a corresponding rotation of rotational
potentiometer 136, through the rotation of belt 134. In an
embodiment, spline 106, hub 137 and rotational potentiometer 136
may be configured such that spline 106 may be displaced laterally
(e.g., in the direction of arrow D) with respect to rotational
potentiometer 136, independently of rotation of spline 106 and
rotational potentiometer 136. That is, spline 106 may be translated
along arrow D without any substantial effect on rotational
potentiometer 136. In another embodiment (not pictured), rotational
potentiometer 136 may be configured to be displaced laterally in a
manner consistent with lateral displacement of spline 106.
[0053] Motor 132 may be configured to rotate in response to a
rotation of spline 106. Rotation of motor 132 may be driven in a
direct-drive manner, without any intermediate gearing or reduction
of power or speed. That is, rotation of motor 132 may be directly
resultant from a rotation of spline 106. Alternatively, rotation of
motor 132 may be indirect, such as through belt 134, rotational
potentiometer 136 (or radial optical encoder or Hall Effect sensors
and the like), and/or hub 137. In one form of this embodiment the
hub 137 can include a "universal socket" that receives the spline
106 and is in turn coupled to a translation component 137' that is
specifically adapted for any one of several new or known handles
102. When rotated, rotational potentiometer 136 or other rotational
encoder may be configured to transmit a signal to, for example, a
controller (not pictured) or an electronic interface, such as
interface mechanism 128. The controller, or interface mechanism
128, may receive the signal from rotational potentiometer 136 and
may determine one or more properties of the rotation. For example,
the angle of rotation may be determined based on the number of
counts received by a controller, or a voltage change of a
potentiometer, and the speed of rotation could be determined by
computing the time derivative of the calculated position.
[0054] In an embodiment, motor 132 may be configured to cause
rotational movement of spline 106. For example, the system may
include a self-centering feature, wherein spline 106, and handle
102, may return to a home position, as if connected to a torsional
spring. Motor 132 may be configured to receive a signal from a
controller, such as interface mechanism 128, which may cause motor
132 to return spline 106 to the home position.
[0055] Deflection mechanism 124, as illustrated in FIG. 4E, is
generally configured to detect and/or measure linear displacement
of a switch, such as slider switch 110, in a direction such as
along arrow D. As mentioned previously, slider switch 110 may be
coupled to control rod 130, which may translate lateral motion of
slider switch 110 into control box 104 through an aperture defined
within spline 106. In an embodiment, control rod 130 may be coupled
at a distal end to a linear potentiometer 138A. Linear
potentiometer 138A may be configured to detect and/or measure
linear displacement of control rod 130, and thus may detect and/or
measure linear displacement of slider switch 110. Linear
potentiometer 138A may be electrically connected to a controller
(not shown) and/or may be connected to an interface, such as
interface mechanism 128. Linear potentiometer 138A may be
configured to provide an output signal in response to linear motion
of control rod 130, which may be used by a controller, such as
interface mechanism 128. The received signal may be used to
determine one or more of the speed, the direction, the force, and
the magnitude of the displacement.
[0056] Translation mechanism 126, as illustrated in FIG. 4F, is
generally configured to detect and/or measure linear displacement
of handle 102, in a direction such as along arrow D. In an
embodiment, handle 102 may be coupled to a proximal end of spline
106. Spline 106 may be coupled at a distal end to a linear
potentiometer 138B. Linear potentiometer 138B may be configured to
detect and/or measure linear displacement of spline 106, and thus
may detect and/or measure linear displacement of handle 102. Linear
potentiometer 138B may be electrically connected to a controller
(not shown) and/or may be connected to an interface, such as
interface mechanism 128. Linear potentiometer 138B may be
configured to provide an output signal in response to linear motion
of handle 102, which may be received by the controller, such as
interface mechanism 128. The received signal may be used to
determine one or more of the speed, the direction, the force, and
the magnitude of the displacement.
[0057] Deflection mechanism 124 and translation mechanism 126 may
be mounted to respective bases, 140, 142. In an embodiment,
deflection base 140 may be configured to interact with translation
base 142, as further described below. As illustrated in FIG. 4E, an
embodiment of a deflection base 140 may include a deflection rail
144 along which a deflection body 146 may translate laterally.
Deflection body 146 may be coupled to control rod 130, and to a
plunger of linear potentiometer 138A. Deflection body 146 may also
be coupled to a belt clamp 148A, which is configured to be securely
coupled to a belt 150A. When control rod 130 is displaced,
deflection body 146 may also be displaced, which may cause plunger
of linear potentiometer 138A to be pushed into the outer cylinder
of linear potentiometer 138A. Distal displacement of control rod
130, and the corresponding displacement of displacement body 146 of
deflection mechanism 124, may cause a rotation of belt 150A, as
further described below.
[0058] In an embodiment, as illustrated in FIG. 4F, translation
base 142 may include a translation body 152 configured to translate
along a translation rail 154 in response to translation of handle
102. Translation rail 154 may be secured, for example, to a lower
inner face of control box 104. Translation body 152 may include a
proximal riser 156 configured to support spline 106. Riser 154 may
support spline 106 directly or, for example, using a rotatable hub
158. Rotatable hub 158 may allow rotation of handle 102, and
associated rotation of spline 106, to occur without imparting a
significant torque on riser 156. Riser 156 may also be coupled to
the plunger of linear potentiometer 138B. When handle 102 is
translated, such as along arrow D, spline 106 may be similarly
translated, which may impart a lateral force on hub 158. The force
on hub 158 may cause riser 156 to move laterally, forcing the
plunger of linear potentiometer 138B into the cylinder of linear
potentiometer 138B. As riser 154 is translated, translation body
152 may move laterally along the rail 154. Translation body 152 may
also include a belt clamp 148B (not pictured) coupled to a belt
150B. Movement of translation body 152 may cause belt 150B to
move.
[0059] As illustrated, for example, in FIGS. 4A and 4C, deflection
mechanism 124 may be mounted on translation mechanism 126. In an
embodiment, translation body 152 may include a groove 160 defined
therein. Deflection rail 144 may be configured to be coupled in
groove 160. In such an embodiment, linear potentiometer 138A may be
coupled, at a distal end, to translation body 152. Deflection
mechanism 124 may be configured such that linear displacement of
translation mechanism 126, such as displacement along the direction
of arrow D, will not affect deflection mechanism 124. That is, the
entire deflection mechanism 124 may move laterally, resulting in no
net change in the deflection mechanism 124. Accordingly, deflection
may be maintained without impairing the ability to translate handle
102.
[0060] Each of the belts 150A, 150B may be configured to couple
deflection mechanism 124 and translation mechanism 126 to
respective motors 162A, 162B. Motors 162A, 162B may be coupled with
an associated controller, and/or may be connected to interface
mechanism 128. Motors 162A, 162B may transmit signals
representative of motion induced on the motor, such as by induction
mechanism 124 or translation mechanism 126. Additionally, or
alternatively, motors 162A and 162B may be configured to induce
motion of respective mechanisms 124, 126. For example, the system
may be equipped with a self centering feature. Motor 162A may be
configured to receive signals from an interface, such as interface
mechanism 128, and to induce motion in deflection mechanism 124 to
return deflection mechanism 124 to an initial or a centered state.
"Centered state" may refer to the geometric center of the available
motion of the deflection slider switch 110. "Centered state" may,
additionally or alternatively, refer to a preset state programmable
prior to, or during, a procedure. Similarly, motor 162B may be
configured to receive position signals, and to return translation
mechanism 126, and the associated spline 106, to a centered
state.
[0061] FIG. 5 generally illustrates an exemplary input system 100.
Input system 100 includes a computing system 102 configured to
receive control signals from input device 101, and to display
information related to the input control system 100 on one or more
displays 103. Displays 103 may be configured to provide visual
indications related to patient health, equipment status, catheter
position, ablation related information, or any other information
related to catheter procedures. Computing system 102 may be
configured to receive signals from input device 101, and to process
those signals. For example, computing system 102 may receive
signals indicative of a desired motion of a catheter within a
patient, may format those signals, and transmit the signals to a
manipulator system, such as manipulator system 300. The manipulator
system may receive the signals and cause a corresponding motion of
the catheter. Position, location, and movement of an associated
catheter or sheath may be displayed to a user, such as an
electrophysiologist, on display 103. The relationship between the
movement of the input device 101 and an associated catheter and/or
sheath may be affected in part by one or more control parameters or
settings associated with computing system 102. Control parameters
or settings may be provided by a user, such as an EP, through
manipulation of software associated with computing device 102,
through one or more inputs such as inputs (e.g. inputs 108), or via
various other conventional control means. Control parameters or
settings may include, without limitation, scaling values which may
affect the magnitude or velocity at which the associated catheter
or sheath is displaced in response to a given user input. For
example, a scaling value of 2 may result in a catheter or sheath
moving twice the distance that the catheter or sheath would move
with respect to a scaling value of 1.
[0062] FIG. 6A is an isometric view of an input device 101'
according to a further embodiment. In the illustrated embodiment,
input device 101' includes a first handle 102a and a second handle
102b. A first spline 106a is illustrated extending through a
proximal end of handle 102b, and is coupled with handle 102a. A
second spline 106b is coupled to a distal end of handle 102b, and
with control box 104'. Each of handles 110a and 110b include a
slider switch 112a, 112b.
[0063] In an embodiment, handle 102a may be configured to control a
catheter, and handle 102b may be configured to control a sheath. In
such an embodiment, handles 102a, 102b may be configured to move
independently. Slider switch 110a may be configured to control
deflection of an associated catheter, and slider switch 110b may be
configured to control deflection of an associated sheath.
[0064] FIG. 6B is an isometric view of the input device 101' of
FIG. 6A, further illustrating the mechanisms housed within control
box 104'. Input device 101' generally includes a first rotation
mechanism 122a, a first deflection mechanism 124a, and a first
translation mechanism 126a, as well as a second rotation mechanism
122b, a second deflection mechanism 124b, and a second translation
mechanism 126b. Operation of the mechanisms may be similar to the
operation described in further detail above with respect to the
foregoing drawings. Mechanisms 122a, 124a, and 126a are coupled
with first handle 102a, and are respectively configured to detect
rotation, deflection, and translation of handle 102a, as well as to
transmit signals representative thereof to an associated
controller. Mechanisms 122b, 124b, and 126b, as similarly coupled
with second handle 102b, and are respectively configured to detect
rotation, deflection, and translation of handle 102b, and to
transmit signals representative thereof to an associated
controller.
[0065] In an embodiment, handles, such as handle 102, 102a, 102b,
may be configured to be removable and replaceable. For example, a
first user may prefer a handle 102 having a slider switch 110 to
control deflection. A second user may prefer a handle 102 having a
dial switch (not pictured) to control deflection. A handle 102 may
be configured to be easily removed and replaced with a handle
including varying methods of providing input. As noted previously,
the mechanical response from an input for any of the handles 102,
102a, 102b and the like can be varied as can the handles
themselves.
[0066] FIGS. 7A-7B illustrate an additional embodiment of a handle
102 for use with an input device 101. Handle 102 includes a trigger
switch 110 configured to control deflection of the distal end of,
e.g., a catheter and/or a sheath. A switch 112 allows selection of
one or both of a catheter and sheath for control. A rotation input
113 may be used to control rotation of a catheter and/or sheath.
Lower housing 118b may be soft to allow for a more comfortable
grip. Translation of a catheter and/or sheath may be controlled by
pushing or pulling handle 102 along spline 106, generally in the
direction of arrow D. Lights 116a, 116b may be used to indicate the
position of switch 112, which may provide an indication of one or
more medical instruments selected for control.
[0067] FIGS. 7C-7D illustrate another embodiment of a handle 102
for use with an input device 101. Handle 102 includes a rotary
switch 110 which is displaceable in the direction of arrow D.
Displacing switch 110 in the direction of arrow D may control
deflection of the distal end of, e.g., a catheter and/or a sheath.
Switch 110 may be configured such that rotation of switch 110 may
control rotation of a catheter and/or sheath. A rotary switch 112
allows selection of one or both of a catheter and sheath for
control. Lower housing 118b may be soft to allow for a more
comfortable grip. Translation of a catheter and/or sheath may be
controlled by pushing or pulling handle 102 along spline 106,
generally in the direction of arrow D. Rings of lights 116 may be
provided and may be indicate the position of switch 112, which may
provide an indication of one or more medical instruments selected
for control.
[0068] FIGS. 7E-7F illustrate an additional embodiment of a handle
102 for use with an input device 101. Handle 102 may be configured
such that moving handle 102 up or down, generally in the direction
of arrow X, may control deflection of the distal end of an
associated catheter and/or sheath. Handle 102 may include a switch
112 which may allow selection of one or both of a catheter and
sheath for control. A rotation input 113 may be used to control
rotation of a catheter and/or sheath. Lower housing 118b may be
soft to allow for a more comfortable grip. Translation of a
catheter and/or sheath may be controlled by pushing or pulling
handle 102 along spline 106, generally in the direction of arrow D.
Lights 116a, 116b may be used to indicate the position of switch
112, which may provide an indication of one or more medical
instruments selected for control.
[0069] FIGS. 7G-7I illustrate yet another embodiment of a handle
102 for use with an input device 101. Handle 102 may be configured
such that moving handle 102 up or down, generally in the direction
of arrow X (FIG. 7G), may control translation of the distal end of
an associated catheter and/or sheath. Handle 102 may be further
configured such that moving handle 102 to one side or the other,
generally in the direction of arrow Y (FIG. 7H), may control
deflection of the distal end of an associated catheter and/or
sheath. Handle 102 may be further configured such that rotating
handle 102, for example, in the direction of arrow R (FIG. 7I), may
control rotation of an associated catheter and/or sheath. Handle
102 may include a selector switch 112 which may allow selection of
one or both of a catheter and sheath for control.
[0070] FIG. 8A illustrates an input device 101 including a handle
102 which may be coupled to a control box 104 via spline 106.
Handle 102 may include a switch 110 which may be configured to
control deflection of an associated catheter and/or sheath. Handle
102 may also include a toggle switch 112 which may be configured to
allow selection of one or both of a catheter and sheath for
control. A rotary switch 113 may be configured to control rotation
of an associated catheter and/or sheath, such as by rotating switch
113 in the direction of arrow R. Handle 102 may further include a
translation switch 115 may be configured to control translation of
an associated catheter and/or sheath. Housing 118 of handle 102 may
include a textured grip, such as a silicone grip, for improved
comfort. Control box 104 may include a switch 114, which may be
configured to serve as a dead man switch. Control box 104 may also
include one or more displays and indicators. For example, an
acrylic display may be used to display functions. One or more
lights 116 may be provided and may be indicate the position of
switch 112, which may provide an indication of one or more medical
instruments selected for control.
[0071] FIG. 8B illustrates another embodiment of an input device
101, similar to the input device of FIG. 8A. FIG. 8C is a close up
view of the handle 102 of input device 101 of FIG. 8B. Handle 102
may be coupled to a control box 104 via spline 106. Spline 106 may
be rigid, or may be flexible. Spline 106 may be configured to
transmit one or more electrical signals between handle 102 and
control box 104. Handle 102 may include a trigger switch 110 which
may be configured to control deflection of an associated catheter
and/or sheath. The amount by which trigger switch 110 may travel
may be adjustable. Handle 102 may also include a toggle switch 112
which may be configured to allow selection of one or both of a
catheter and sheath for control. A rotary switch 113 may be
configured to control rotation of an associated catheter and/or
sheath, such as by rotating switch 113 in the direction of arrow R.
Handle 102 may further include a translation switch 115 which may
be configured to control translation of an associated catheter
and/or sheath. Housing 118 of handle 102 may include a textured
grip, such as a silicone grip, for improved comfort. Control box
104 may also include one or more displays and indicators. For
example, a display may be used to display functions. One or more
lights 116 may be provided and may be indicate the position of
switch 112, which may provide an indication of one or more medical
instruments selected for control. Control box 104 may further
include a holding rack 119, which may be configured to selectively
attach to a table, a device, or other mounting location.
[0072] FIGS. 9A and 9B illustrate another embodiment of an input
device 101 including a handle 102 coupled to a control box 104 via
a spline 106. Handle 102 may be configured such that rotation of
switch 110 may control rotation of a catheter and/or sheath. Handle
102 may include, or be coupled with, a rotary switch 110 which may
be configured such that rotation of switch 110 may control
deflection of the distal end of, e.g., a catheter and/or a sheath.
A toggle switch 112 may allow selection of one or both of a
catheter and sheath for control. Handle 102 may further include a
switch 114 which may be configured to serve as a dead man switch
114. While not depicted in FIGS. 9A and 9B, the socket and plug
combination and all the functionality and versatility thereof as
previously described can be integrated into the system 101 within
control box 104 and/or with structure coupled to handle 102.
[0073] Control box 104 may be coupled to a base 121 via rotary
couples 123. Rotary couplers 123 may be selectively adjustable to
allow changing of the angle of control box 104 relative to a
support surface (or based 121). Base 121 may include an emergency
stop button 125, which may be configured to, e.g., retract a
catheter and/or sheath, or remove ablation energy from an ablation
catheter. Base 121 may further include one or more switches 127,
which may be selectively assignable by a user.
[0074] FIG. 10 illustrates a handle 102 for an input device. Handle
102 may be contoured, for example, to conform to the hand of a
user. Handle 102 may be designed to conform to either a right hand
or a left hand. Input may be provided to an input control system
100 using a trackball, 129 and one or more assignable buttons 131.
Buttons 131 may be configured to select one or more of a catheter
and sheath for control. Additionally, buttons 131 may be configured
to allow a user to select a function which may be controlled using
trackball 129. For instance, a button 131a may be configured such
that selection of button 131a causes trackball 129 to control
deflection of the distal end of a catheter or sheath. A button 131b
may be configured such that selection of button 131b allows
trackball 129 to control translation of a catheter or sheath.
Handle 102 may include one or more mounting holes to allow handle
102 to be mounted, for example, on a machine, a table, or to
another medical device.
[0075] FIG. 11A is a side isometric of an input device 101
according to an embodiment. FIG. 11B is an isometric view of a
handle 102 which may be configured for use with input device 101.
Input device 101 may be a spatial input device, such as the Falcon
controller commercialized by Novint Technoologies, Inc. Handle 102
may be coupled to a control box 104 via a plurality of control arms
133. Control arms 133 may include several sections 135a-135d which
provide pivot points for movement of handle 102. While FIG. 11A
illustrates two control arms 133, it is to be understood that input
device 101 may include any number of control arms 133. In an
embodiment, input device 101 includes three control arms 133. One
or more of sections 135 may include a motor, a sensor, or a
controller 141 therein. Handle 102 may be coupled to control arms
133 at a base 139, which may include one or more mounting points.
Handle 102 may include a rotary switch 110 which can be configured
to control deflection of the distal end of an associated catheter
and/or sheath. A toggle switch 112 may permit selection of one or
both of a catheter and sheath for control. Handle 102 may further
include a switch 114 which may be configured to serve as a dead man
switch 114.
[0076] Input device 101 may be configured to such that one or more
of control arms 133 may be selectively lockable. For example, input
device 141 may selectively power, or lock one or more of motors 141
to restrict handle motion 102. In an embodiment, input device 101
may thereby restrict handle 102 motion in a plane, such as an x-y
plane, while allowing handle 102 to translate and rotate about an
axis, such as the Z-axis. In another embodiment, input device 101
may be configured to lock rotation along an axis, such as the
Z-axis, while allowing handle 102 otherwise unrestricted
movement.
[0077] Although embodiments of this invention have been described
above with a certain degree of particularity, those skilled in the
art could make numerous alterations to the disclosed embodiments
without departing from the spirit or scope of this invention. For
example, while embodiments have been described using
potentiometers, it is to be understood that additional embodiment
could include other types of sensors and encoders including,
without limitation, absolute position encoders, relative position
encoders, optical encoders, linear encoders, linear actuators, and
linear variable differential transformers. All directional
references (e.g., upper, lower, upward, downward, left, right,
leftward, rightward, top, bottom, above, below, vertical,
horizontal, clockwise, and counterclockwise) are only used for
identification purposes to aid the reader's understanding of the
present invention, and do not create limitations, particularly as
to the position, orientation, or use of the invention. Joinder
references (e.g., attached, coupled, connected, and the like) are
to be construed broadly and may include intermediate members
between a connection of elements and relative movement between
elements. As such, joinder references do not necessarily infer that
two elements are directly connected and in fixed relation to each
other. It is intended that all matter contained in the above
description or shown in the accompanying drawings shall be
interpreted as illustrative only and not limiting. Changes in
detail or structure may be made without departing from the spirit
of the invention as defined in the appended claims.
* * * * *